This repo demonstrates how to customize the ROBOTIS OpenCR firmware to work with a 3rd motor on the Turtlebot 3 and ros2 Humble.
The repo is a fork of ROBOTIS' OpenCR library.
All code for the 3rd "GIX" motor is based on the Open Manipulator firmware extension for the Turtlebot 3.
Setup was tested using Ubuntu 24.04.
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Install the Arduino IDE.
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Follow ROBOTIS' guide to configure your computer's USB ports to work with the OpenCR board.
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Continue following their guide to add the OpenCR board to Arduino IDE.
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Add the Dynamixel2Arduino library to the Arduino IDE.
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Make sure that only the new motor is plugged into the OpenCR board.
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Plug in the OpenCR over USB.
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Follow step 7 of the Turtlebot 3 OpenCR setup guide to put the board in "recovery mode".
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In Arduino IDE, open File > Examples > OpenCR > 10. Etc. > usb_to_dxl.
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Select the OpenCR board and its port in Arduino IDE.
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Flash the example firmware onto the OpenCR board.
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Install the Dynamixel Wizard.
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Scan for the new motor, if the motor is new, the default ID should be 1, and the baudrate should be 57600.
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Change the ID to 3, and the baudrate to 1,000,000.
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Make sure you can move the motor using the Dynamixel Wizard.
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Turn off the OpenCR and unplug it.
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Plug all 3 motors into the OpenCR board.
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Plug in the OpenCR board to your computer.
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Open the t516_OpenCR.ino file in Arduino IDE.
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Change the configuration string to either "GIX_Burger" or "GIX_Waffle" depending on the type of Turtlebot 3 you are using.
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Select the OpenCR board, and its port in Arduino IDE.
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Put the OpenCR board in recovery mode.
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Install the GIX firmware onto the OpenCR board.
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Turn off the OpenCR board, unplug it from your computer, and plug it back into the Turtlebot's Raspberry Pi.
The ros2_control code to use the 3rd motor is demonstrated in the GIXLabs' t516_project_example repo
If your motor is not working for some reason, follow ROBOTIS' firmware recovery guide.
This repo is licensed under the Apache-2.0 license.